public static OI oi;
public static DriveTrain driveTrain;
public static Shooter shooter;
+
public static Scaler scaler;
public static IntakeArm intakeArm;
public static DefenseArm defenseArm;
shooter = new Shooter();
}
- private void addDefense(SendableChooser chooser) {
- chooser.addDefault("Portcullis", Defense.PORTCULLIS);
- chooser.addObject("Sally Port", Defense.SALLY_PORT);
- chooser.addObject("Rough Terrain", Defense.ROUGH_TERRAIN);
- chooser.addObject("Low Bar", Defense.LOW_BAR);
- chooser.addObject("Cheval De Frise", Defense.CHEVAL_DE_FRISE);
- chooser.addObject("Drawbridge", Defense.DRAWBRIDGE);
- chooser.addObject("Moat", Defense.MOAT);
- chooser.addObject("Rock Wall", Defense.ROCK_WALL);
-
- shooter = new Shooter();
-
- }
-
@Override
public void autonomousInit() {
Scheduler.getInstance().run();
public final static double INCHES_PER_PULSE = (((Math.PI)
* OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)
/ WHEEL_SPROCKET_DIAMETER) * WHEEL_DIAMETER;
+
// Drivetrain specific constants that relate to the PID controllers
private final static double Kp = 1.0, Ki = 0.0,
Kd = 0.0 * (OUTPUT_SPROCKET_DIAMETER / PULSES_PER_ROTATION)